WO2022223271A1 - Système, kit et module électronique pour compenser le poids d'un objet - Google Patents

Système, kit et module électronique pour compenser le poids d'un objet Download PDF

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Publication number
WO2022223271A1
WO2022223271A1 PCT/EP2022/058864 EP2022058864W WO2022223271A1 WO 2022223271 A1 WO2022223271 A1 WO 2022223271A1 EP 2022058864 W EP2022058864 W EP 2022058864W WO 2022223271 A1 WO2022223271 A1 WO 2022223271A1
Authority
WO
WIPO (PCT)
Prior art keywords
weight
traction cable
cantilever
user
electronic module
Prior art date
Application number
PCT/EP2022/058864
Other languages
German (de)
English (en)
Inventor
Simon Käsmann
Guenther Veik
Roland Schaer
Michael Lanzinger
Antonios DRAGANIS
Christian Metzler
Michael Wierer
Dragan Stevic
Original Assignee
Hilti Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hilti Aktiengesellschaft filed Critical Hilti Aktiengesellschaft
Priority to EP22720438.5A priority Critical patent/EP4326494A1/fr
Priority to CN202280029759.5A priority patent/CN117241917A/zh
Priority to US18/286,043 priority patent/US20240183489A1/en
Publication of WO2022223271A1 publication Critical patent/WO2022223271A1/fr

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • the present invention relates to a system for compensating for a weight of an object.
  • the object is attached to a traction cable, the traction cable being guided in or on a cantilever arm in the direction of a back structure of the system, a second end of the cantilever arm being held by a back structure and the system being carried by a user of the system by means of the back structure can.
  • the system is characterized by an electronic module comprising a device for winding the traction cable and a motor for driving the device for winding the traction cable, the system being set up to determine a counterforce for the weight of the object and on the object transferred to. It is particularly preferred within the meaning of the invention that a control device of the system is set up to set a counterforce in relation to the weight of the object.
  • the system or its control device can preferably produce a force balance between the weight of the object on the one hand and the counterforce on the other.
  • the invention relates to an electronic module for compensating for a weight of an object, as well as a kit that includes such an electronic module, a traction cable and at least one deflection pulley. With the invention, the weight of an object can be compensated particularly well and in a way that is easy on the back.
  • tool devices such as chisels, hammer drills, core drills or the like
  • tool devices such as chisels, hammer drills, core drills or the like
  • Tools are often strenuous and tiring, especially when working with these devices for a long period of time.
  • Tools are often heavy and the downward weight of such a tool towards the ground means that work with such tools can only be performed for a limited period of time before a break is required.
  • this can delay the progress of work on a construction site, which is undesirable for various reasons.
  • working with heavy tool equipment can lead to physical limitations for years. There is therefore a need to provide means that make working with heavy power tools easier and effectively protect the users of such power tools from adverse health effects.
  • Passive assistance systems for example, are known in the prior art.
  • an object can be attached to a component of the assistance system, with the object then being held by the assistance system.
  • a passive suspension cannot provide sufficient support for the user in some applications.
  • the object on which the present invention is based is therefore to overcome the above-described shortcomings and disadvantages of the prior art and to provide a system for compensating for the weight of an object that is easy to handle and can be flexibly adapted to different users can.
  • the system to be provided should effectively and reliably compensate for the weight of an object in different applications and situations. It would be desirable if this could be made possible by the user of the system without a special adjustment process. Experts would also appreciate it if the system to be provided could enable not only static but also dynamic support for the system user.
  • a further object on which the invention is based is the provision of an electronic module as the drive and control unit of such a system, and the provision of a kit with which the electronic module can be used, for example, as a stand-alone device.
  • a system for compensating for the weight of an object is provided, the object being attachable to a traction cable, the traction cable being guidable in or on a cantilever arm in the direction of a back structure of the system, the cantilever arm being receivable by the back structure.
  • the balancing system is characterized in that the system comprises an electronic module comprising a device for winding up the traction cable and a motor for driving the device for winding up the traction cable, the system being set up to determine a counterforce for the weight of the object and transfer it to the object.
  • the system comprises a control device, the system being set up, for example by the control device, to set a counterforce in relation to the weight of the object.
  • the control device can preferably be set up to establish a force balance between the weight of the object on the one hand and the counterforce on the other hand.
  • the system or the electronic module can have an energy source for supplying the system with electrical energy.
  • the system is preferably a battery-operated, body-worn compensation or balancing system, in which the weight of an object is compensated by generating a counter-force, the counter-force being transmitted by a traction cable.
  • the system can preferably be set up to carry out a balancing process in relation to the weight of the object.
  • This compensation process can be carried out, for example, by the controller of the system.
  • the balancing process preferably represents a control and regulation process in relation to the position of an object attached to the traction cable of the system.
  • the term balancing process relates in particular to the balancing of a weight of an object in a system, with the object being able to be attached to a traction cable of the system . This can be a one-off operation, performed for example when work begins on the item or when a new item is attached to the system's cable.
  • the balancing operation can also be performed substantially continuously to allow substantially continuous weight balancing of the object while working with it.
  • the object can in particular be a tool with which work is to be performed.
  • it can be a chisel, a drill hammer, a fastening device or a similarly large and/or heavy device that is used, for example, to work on a wall or to drive an object to be fastened into a wall or underground.
  • a tool with which work is to be performed can be a chisel, a drill hammer, a fastening device or a similarly large and/or heavy device that is used, for example, to work on a wall or to drive an object to be fastened into a wall or underground.
  • Those skilled in the art are familiar with such tools.
  • the object or tool can be attached to a traction cable of the system using suitable attachment or recording devices. It is preferred within the meaning of the invention that the traction cable connects the object to a device for winding up the traction cable, with the device for winding up the traction cable preferably being provided in the area of the back structure of the system.
  • the winding device is preferably directed to lengthening or shortening an effective length of the traction cable. This happens, for example, as part of the balancing process, in which the weight or the weight of the object is determined and used to set and control the effective length of the traction cable.
  • a possible change in the weight of the object is reacted to essentially continuously, in that the motor generates more or less torque and applies it to the traction cable.
  • the device for winding the traction cable can, for example, release the traction cable or shorten its length in order to adjust the effective length of the traction cable.
  • the torque of the motor is adapted to different weight forces, preferably continuously, ie essentially during the entire use of the system, in order to compensate for any changes in weight force.
  • movements of the object that can occur when working with the object can essentially be continuously compensated and the user can thus be permanently supported.
  • the user of the proposed system is considerably relieved when working with the object, because when using the system he only has to apply the force required to carry out the work, but no longer the force to hold the tool device.
  • the compensation for the weight of the object is transferred from the user to the system, so that the arm and shoulder muscles in particular of the system user are relieved.
  • the force that has to be applied to carry out the work can, for example, be a pressing force in order to propel the power tool or its tool into a wall or a substrate to be worked on.
  • the winding device has at least one roller, which is preferably arranged in the area of an output of a drive device of the system.
  • the pull rope is in or on a
  • the system's cantilever arm is guided towards a back structure. It is preferred within the meaning of the invention that the traction cable runs from the object in the direction of a first end of the cantilever arm, wherein the first end of the cantilever arm can preferably also be referred to as the front end of the cantilever arm. According to the invention, it is preferred that the traction cable is guided over deflection rollers inside the cantilever arm. In the context of the inventions, however, other types of guidance may also be preferred, which include, for example, Bowden cables and/or plain bearings.
  • the cantilever is essentially L-shaped.
  • the cantilever includes a back portion and a head portion, the back portion and the head portion being substantially perpendicular to each other.
  • the back section of the cantilever arm runs essentially parallel to a spine of the system user, while the head section of the cantilever arm runs above or next to the head of the user, essentially perpendicular to the back section and/or the spine of the user user.
  • the cantilever arm or its head section can be guided over the user's head or next to the user's head.
  • the transition area between the back and head section of the cantilever arm can be L-shaped, include a transition section or be designed as a joint.
  • a transition area designed as a transitional section between the back and head sections of the cantilever arm leads to a particularly stable structure of the proposed system, while a joint that can be provided in the transition area between the back and head sections of the cantilever arm allows the system to be folded, which Pack size of the combined system can be significantly reduced.
  • the back section and/or the head section of the cantilever arm comprise joints which also allow the system to be folded and the system to be easily transported in the collapsed state.
  • the joints can divide the back section into a lower and an upper area or the head section into a front and a rear area.
  • the cantilever arm has a first end and a second end.
  • the first end of the cantilever arm which can also be referred to as the front end within the meaning of the invention, preferably forms the front end of the head section.
  • the second end of The cantilever arm which can also be referred to as the lower end within the meaning of the invention, preferably forms the lower end of the back section.
  • top, bottom, front and rear do not represent unclear terms for the person skilled in the context of the present invention, since the terms and the spatial directions associated with them “up”, “down”, “ to the front” and “to the rear” are explained, for example, in FIG.
  • the weight of the object usually acts “down” in a spatial direction, i.e. in the direction of the ground on which the user of the system is standing.
  • the “upward” spatial direction corresponds to the direction in which the object is moved when the effective length of the traction cable is shortened by the traction cable winding device.
  • the object is in front of the user, for example at head, chest or stomach level.
  • the head section of the cantilever usually represents the highest point of the system, so that in the terminology of the invention it forms the top of the system.
  • the back section of the cantilever forms the rear section of the system.
  • the back structure with the electronic module, the motor for driving the winding device and the control device is provided in the rear, lower area of the system.
  • the bottom end of the system can be formed, for example, by a hip belt with which the system can be attached to the user. According to the invention, this hip belt forms a first contact area, where there is physical contact between the system user and the system.
  • a second contact area can be formed by a back pad.
  • the cantilever arm of the system can be accommodated by the back structure. It is particularly preferred within the meaning of the invention that the second end of the cantilever arm can be accommodated by the back structure. In the context of the invention, this preferably means that there is a connection between the lower end of the back section of the cantilever arm and the back structure. For example, the lower end of the spine portion of the cantilever, or the second end of the cantilever, may be received within a cavity in the spine structure of the system.
  • fastening means can be provided with which the cantilever or its back section can be fastened to or in the back structure. For example, the cantilever can be bolted to the back structure.
  • the system can include a preferably one-piece construction that forms a transition between the cantilever arm and the back structure.
  • the cantilever can merge into the back structure in the area of this construction.
  • the cantilever arm extends from the back structure above or next to the user's head in order to pick up and hold an object in front of the user's body.
  • the system user is considerably relieved and can carry out the work to be performed with the object for significantly longer and with a reduced risk of health impairments.
  • the proposed system can be carried by a user of the system by means of the back structure.
  • the system includes an electronic module, wherein the electronic module can be arranged in particular in the area of the back structure of the system.
  • the electronic module can be part of the proposed system or be designed as a stand-alone device.
  • the stand-alone design of the electronic module represents a further aspect of the invention, which is explained further below.
  • the electronic module includes an energy source for supplying the system with electrical energy.
  • the energy source can be a battery or an accumulator ("accumulator"), the accumulator being rechargeable in particular. If the object whose weight is compensated with the proposed system is a battery or accumulator-operated tool, it is preferred within the meaning of the invention that the energy source is similar or the same as the energy source of the tool. In other words, it is preferred within the meaning of the invention if essentially the same batteries and accumulators can be used for the power supply of the proposed system and the power tool.
  • the electronic module also includes a device for winding up the traction cable and a motor for driving it. It is preferred within the meaning of the invention that the device for winding up the traction cable is arranged in an area of the back structure and that the traction cable can be wound up using the motor.
  • the motor of the proposed system is set up to generate a torque with which the effective length of the train rope can be lengthened or shortened. This is preferably done depending on a movement when guiding the object.
  • the torque of the motor can be used to hold, wind and/or release the pull cord as the user changes the position of the object.
  • the balancing process takes place in particular when a new object is attached to the cable of the system.
  • the compensation process represents an essentially continuously running open-loop and closed-loop control process, in which in particular the engine speed is controlled to the speed “zero”, ie a standstill, or a very low engine speed.
  • the speed of the attached object can be, for example, less than 10 mm/s, more preferably less than 5 mm/s and most preferably around 3.7 mm/s. This corresponds to a value for the engine speed of less than 1 rad/s.
  • the compensation process is designed in particular as an automatic compensation process, in which the system preferably reacts automatically to the weight of the object or its changes by the torque on the motor of the system being regulated accordingly.
  • An alternative compensation process can consist, for example, in that the object is pulled up from an underground by the system after a preferably manual control input by the user, if the object was previously placed on the underground.
  • the torque of the motor in particular can be regulated or used as a controlled variable.
  • the traction cable is wound up in a single layer within the winding device.
  • This preferred single-layer winding can be effected, for example, by a profile within the winding device, wherein the profile can be provided, for example, as a roll within the winding device.
  • a movable cable guide can also be used to enable the traction cable to be wound up in a single layer.
  • the winding device can include profiles and/or movable cable guides for preferably single-layer winding of the traction cable.
  • the electronic module also includes a control device that is set up to carry out the compensation process in relation to the weight of the object.
  • a control device that is set up to carry out the compensation process in relation to the weight of the object.
  • the device for winding up the traction cable, the motor and the control device are supplied with electrical energy.
  • a counterforce for the weight of the object is determined during the compensation process, so that the weight of the object is balanced or compensated for by the counterforce acting in the opposite direction to the weight.
  • the counterforce can be transferred to the object using the traction cable.
  • the weight of the object can be "taken" from a user of the system, so that the user - for example while working with the object - does not have to hold it at a certain height, but only has to apply the strength with the arms that is required to carry out the specific work to be done with the object.
  • An essential advantage of the invention is that the weight forces arising when using the system or when working with the object can be dissipated via the back structure into the hip area of the user. In other words, the system is set up to derive the weight forces and loads that occur in the hip area of the user.
  • the back structure can be designed as a backpack system, for example.
  • a torque of the motor can be determined as a function of the weight of the object with the compensation process.
  • the torque determined can be used to wind up or release the traction cable, depending on how great the weight of the object is or to what extent the weight of the object changes.
  • the system or the electronic module has a gear. It is preferred within the meaning of the invention that the transmission has a gear ratio between 2 and 15 and preferably between 4 and 12.
  • the transmission can have a roller at its output, the roller having a diameter in a range from 10 to 200 mm, preferably in a range from 20 to 150 mm and particularly preferably in a range from 40 to 120 mm . Tests have shown that a combination of a gear ratio in the range of 4 to 12 and a roller diameter of 40 to 120 mm is a good compromise so that the system's motor is able to generate a sufficiently large torque on the other hand, it can be made compact to be used in a body-worn balancing system.
  • the motor is an external rotor motor. Before geous enough, high torques can be achieved at low speeds by using an external rotor motor. In addition, it is preferred within the meaning of the invention that the motor has a number of poles that is greater than 6. This allows a continuously high torque to be provided.
  • the traction cable is guided by means of rollers and/or a Bowden cable.
  • the Bowden cable can in particular include a Bowden cable or be formed by one.
  • the traction cable is guided in or on the cantilever arm and thus leads from the object to be held, whose weight is to be compensated, to the winding device.
  • the back structure comprises a first contact area and a second contact area, with contact being provided between the user of the system and the system at least in the contact areas.
  • the first contact area can preferably be designed as a hip belt, while the second contact area can be designed as a back padding.
  • the weight of the system can be optimally transferred to a stable body area of the system user by using a hip belt as the first contact area.
  • a large proportion of the weight of the system is carried in the hip belt and distributed by this to a stable body area of the user.
  • the wearing comfort of the proposed system can be significantly increased.
  • the first and the second contact area are components of the back structure of the system.
  • the first contact area is preferably formed by a hip belt that the user can put around his hips.
  • the second contact area can in particular be formed by a back padding that rests between or on the shoulder straps and can be connected to two shoulder straps.
  • the shoulder straps can - as is known in the field of backpacks - be guided over the shoulders of the system user and end in the hip belt of the back structure. Due to the backpack-like design of the back structure, handling the proposed system can be made easier and its acceptance by users can be significantly increased.
  • a distance between the first contact area and the second contact area is preferably designed to be adjustable in order to adapt the system to the user and to compensate for a tilting moment caused by the object.
  • This tilting moment preferably acts in the “forward” spatial direction, so that the user of the system can be pulled “forward” in the spatial direction when using it and in particular when a heavy object is attached to the traction cable. It is preferred within the meaning of the invention that the tilting moment is regarded as acting about a horizontal axis of the system. This can be the first or second horizontal axis of the system, for example.
  • the distance between the first contact area and the second contact area of the back structure of the system is selected as large as possible in order to achieve good leverage. This is made possible in particular by the adjustability of the distance between the first contact area and the second contact area of the back structure. Tests have shown that, with the invention, a tilting moment caused by the object, which preferably acts “forward” in a spatial direction, can be compensated for particularly well. The compensation takes place in particular via the back of the user of the system, in that the forces or the tilting moment are introduced into the back structure of the system.
  • the proposed system has a linear guide that can be used to adjust the distance between the back padding and the hip belt.
  • the user can set a possible maximum distance between the first and the second contact area of the back structure, adapted to his body size.
  • the linear guide thus makes a significant contribution to compensating for the tilting moment of the object whose weight is to be compensated for by the system.
  • the system has a strut in order to introduce a tilting moment caused by the object into a first contact area of the system.
  • the tilting moment is preferably directed particularly into the hip belt of the system, where it is distributed over a stable part of the user's body.
  • the derivation of the tilting moment can be further improved by the provision of the strut.
  • the strut connects the back structure to the hip belt.
  • the strut can be stiffened with a flexible plate to improve the transmission of force to the hip belt. This preferred embodiment of the invention is shown in FIG.
  • the cantilever arm is designed to be foldable.
  • the cantilever arm can include at least one joint.
  • the joint can be arranged in the back section or in the head section or in the transition area between the back section and the head section of the cantilever arm.
  • a combination of different joints is also possible. Because the cantilever can be folded, a pack size for the collapsed system can be reduced, so that the proposed system can be transported more easily when not in use. In addition, the fact that the system can be folded makes it easier to handle.
  • the foldability of the cantilever can be made possible by various methods and devices.
  • a joint can be provided in the back section of the cantilever arm, which divides the back section into an upper area and a lower area and which makes it possible for the upper area of the back section and the head section of the cantilever arm to be tilted or folded forward .
  • this allows the cantilever arm to be folded forward between the shoulder straps of the back structure, as a result of which the pack size of the system can be significantly reduced.
  • This preferred embodiment of the invention is illustrated in FIG.
  • This feature of the invention is illustrated in FIG. 8 and can be combined, for example, with the forward-folding embodiment of the invention illustrated in FIG.
  • a cavity for receiving the lower region of the back section of the cantilever can be provided in the back structure, into which the lower region of the back section of the cantilever Be can be pushed.
  • a latching mechanism can be provided with which the back section can be fastened in the various positions.
  • the back section of the cantilever arm can be fixed in the lowered position and in the maximum extended position.
  • the back section can also be fastened in intermediate positions in the back structure of the system. This means that different working heights of the system can be set, for example. It can also be determined in this way whether the cantilever arm is guided over the head of the system user or next to his head.
  • the transition area between the back section and the head section of the cantilever arm is designed as a joint, the joint making it possible for the head section of the cantilever arm to be folded backwards.
  • the system can also be designed in such a way that the head section of the cantilever arm can be rotated sideways by a rotation angle about a vertical axis of rotation.
  • the head section of the cantilever arm can then be folded “downwards” in a spatial direction next to the user's body.
  • This preferred embodiment of the invention is shown in Fig. 9 forms rank. It is particularly preferred within the meaning of the invention that the head section of the cantilever arm is rotated essentially 90 degrees to the side about a vertical axis of rotation before it is folded “down” next to the user's body.
  • the term "substantially 90 degrees" is not an ambiguous term.
  • the term “substantially 90 degrees” preferably means in the context of the invention that an angle of approximately 90 degrees is meant, but which can deviate from a mathematically exact right angle by +/-5 degrees, for example.
  • the head section of the cantilever arm can comprise a joint, the joint dividing the head section of the cantilever arm into a front area and a rear area.
  • the hinge allows the front portion of the head portion of the cantilever to be folded backwards, thereby reducing the pack size of the collapsed system.
  • the front portion of the head portion of the cantilever arm is preferably folded rearward about a vertical pivot axis, the vertical pivot axis passing through the joint dividing the head portion of the cantilever arm into a front portion and a rear portion.
  • This preferred embodiment of the invention is illustrated in FIG.
  • the cantilever includes a support point with which the system can be supported on a wall.
  • a support point which is preferably at the front end of the head section of the cantilever arm, advantageously makes it possible to absorb the tilting moment that acts forward in the spatial direction and is caused by the object, so that the user of the system can use it in a particularly stable and safe manner can work on the item.
  • the support point comprises an elastic material and/or at least one roller or is formed by the elastic material and/or the at least one roller. Due to the elastic material, damage to the wall or the wall on which the system is supported with the support point can be avoided.
  • the support point can also be referred to as a contact point within the meaning of the invention, which is preferably arranged in the area of a tip of the cantilever arm, i.e. its front or first end.
  • the proposed system can be supported by the provision of the support or contact point on a wall, so that the tilting moment no longer acts on the user but is kept away from him.
  • the head section of the cantilever arm can be designed to be telescopic in the horizon tal direction.
  • the system can be adapted in a particularly simple and uncomplicated manner to various objects that can be attached to the pull cable of the system.
  • the object is a tool, with the different length head portion, different length tool lengths of the tool can be accommodated.
  • tool device have tools of different lengths, depending on whether it is a chisel, a hammer drill, a core drill or another tool.
  • the system can be used particularly flexibly in different trades and for different types of power tools due to the head section of the cantilever arm, which is preferably designed to be telescopic.
  • the invention in a second aspect, relates to an electronic module for compensating for the weight of an object.
  • the terms, definitions and technical advantages introduced for the proposed system and its components preferably apply analogously to the electronic module.
  • the object whose weight is to be balanced is attached to the module with a traction cable.
  • the electronic module has the following components for compensating for the weight of an object:
  • a motor for driving the device for winding up a traction cable the system being set up to determine a counteracting force for the weight of the object and to transmit it to the object.
  • a control device of the system is set up to set a counterforce in relation to the weight of the object.
  • the system can preferably be set up—for example by means of its control device—to establish a force balance between the weight of the object on the one hand and the counterforce on the other.
  • the control device can be set up to carry out a compensation process in relation to the weight of the object.
  • the electronic module can also be provided as a stand-alone device.
  • the electronic module can be set up at a work site, with an object being able to be attached to the electronic module using a traction cable and, if necessary, pulleys or similar aids.
  • the invention includes, in a further aspect, a kit comprising the electronic module, a traction cable and at least one deflection pulley for compensating for the weight of an object that can be attached to the traction cable.
  • a kit comprising the electronic module, a traction cable and at least one deflection pulley for compensating for the weight of an object that can be attached to the traction cable.
  • This preferred embodiment of the invention fertil is shown in FIG.
  • the at least one deflection roller can be attached to a ceiling above a work site, for example.
  • Suitable carrier or frame structures can be used for this purpose. It can also be preferred within the meaning of the invention that the carrier or frame structure is designed as a guide rail, so that a position of the kit can be changed.
  • a mobile work kit can be provided in this way for compensating for the weight of an object, where the object can be designed in particular as a tool.
  • FIG. 1 View of a preferred embodiment of the proposed system
  • FIG. 3 view of a preferred embodiment of the proposed system with support strut
  • Fig. 4 View of a preferred embodiment of the proposed system, wherein the head portion of the cantilever extends over the user's head
  • FIG. 5 View of a preferred embodiment of the proposed system, wherein the head portion of the cantilever runs alongside the user's head
  • Fig. 6 View of a preferred embodiment of the proposed system with a joint in the back section of the cantilever
  • Fig. 7 View of a preferred embodiment of the proposed system with a joint in the transition area between the back section and the head section of the cantilever arm
  • Fig. 8 View of a preferred embodiment of the proposed system, in which the back section of the cantilever arm can be lowered into the back structure
  • Fig. 10 View of a preferred embodiment of the proposed system with a joint in the head section of the cantilever
  • FIG. 1 shows a preferred embodiment of the proposed system 1, which is worn by a user 20.
  • the system 1 comprises a cantilever arm 5 which, in the example of the invention shown in FIG. 1, runs above the head 21 of the user 20 .
  • the cantilever 5 may have sections referred to as the back section 15, the head section 16 and the transition section 25.
  • the back section 15 is arranged in a back or rear area of the system 1 and runs essentially parallel to a spine of the user 20.
  • the head section 16 runs essentially perpendicular to the back section 15 of the cantilever arm 5, so that the back section 15 and head section 16 enclose a substantially right angle.
  • the cantilever 5 can be L-shaped or have a transition region 24 which has a transition section 25 arranged obliquely between the back section 15 and the head section 16 .
  • the cantilever 5 has a front or first end 7 and a second or rear end 8 which opens into the back structure 6 of the system 1 .
  • the back structure 6 makes it possible for the user 20 to carry the system 1 on his back.
  • An electronic module 10 is provided in the back area of the user 20 and contains various components of the system 1 .
  • an energy source 11 , a device 12 for winding up a traction cable 4 , a control device 14 and a motor 13 are accommodated in the electronic module 10 .
  • the back structure 6 or the electronic module 10 can be attached to the user 20 with a first contact area 17 and a second contact area 18 .
  • the first contact area 17 can be designed as a hip belt, while the second contact area 18 is preferably designed as a back pad.
  • An object 3 having a weight 2 can be fastened to the traction cable 4 .
  • the weight force 2 is preferably the weight of the object 3, the weight force 2 pointing in the direction of the ground. For the purposes of the invention, this direction is preferably referred to as the “downward U” spatial direction.
  • the other spatial directions “upwards O”, “forwards V” or “backwards H” are also shown in FIG.
  • the down arrow which is provided with the reference sign 2, symbolizes the weight of the object 2 3 and indicates their Rich direction.
  • the object 3 can preferably be in the form of a tool and can be attached to the system 1 via the traction cable 4 . Simple fasteners, such as snap hooks, or special fasteners or mounting devices can be used for this
  • the traction cable 4 leads from the object 3 in the direction of the cantilever 5 and is then guided in or on the cantilever 5 in the direction of the back structure 6 or the electronic module 10 .
  • the winding device 12 In the electronic module 10 is the winding device 12, with which the traction cable 4 can be wound up.
  • the effective length of the traction cable 4 can be lengthened or shortened.
  • the length of the traction cable 4 can be adapted to the weight 2 of the object 3, with the weight 2 of the object 3 being determined in a compensation process.
  • the winding device 12 is driven by a motor 13 which can also be arranged in the electronic module 10 . It is preferred within the meaning of the invention that the compensation process represents a regulation and control process, the aim of which is that the motor 13 is at a standstill.
  • the motor 13 is regulated to a speed of zero by the compensation process.
  • the proposed system 1 enables a weight force 2 of the object 3 to be compensated for, so that the proposed system 1 can preferably also be referred to as a balancing system.
  • the compensation of the weight 2 is preferably done by an interaction of winding device 12, motor 13 and control device 14, wherein the ge mentioned components of the system 1 from the energy source 11 with electrical energy ver provides.
  • the energy source 11 is preferably a battery or an accumulator.
  • the weight force 2 of the object 3 is compensated in particular by a counterforce 9 which is exerted on the object 3 and is transmitted to the object 3 by means of the traction cable 4 .
  • the counterforce 9 balances the weight 2 of the object 3 and thus ensures that the user 20 of the system 1 does not have to hold the object 3 against gravity, but only has to apply the force required to work with the object 3 . As a result, the system 1 can make the work with the object 3 much easier for the user 20 .
  • the counterforce 9 is marked in the figures with an arrow in the spatial direction "up" and the reference number 9 .
  • a compensation process takes place in particular when a (new) object 3 is fastened to the traction cable 4 or when the object 3 is replaced.
  • the compensation of the weight 2 of the object 3 can be regulated statically on its weight.
  • FIG. 2 shows a preferred embodiment of the proposed system 1 with a length-adjustable back structure 6.
  • a distance A between the first contact area 17 and the second contact area 18 of the back structure 6 can be adjusted.
  • a tilting moment 19 generated by the object 3 can be compensated for.
  • the tilting moment 19 is shown in FIG. 2 with a hatched arrow and the reference number 19 .
  • the tilting moment 19 is caused by the weight of the object 2 3, which pulls the system 1 in the spatial direction down U.
  • a tilting moment 19 acts overall, which acts downwards and forwards and in particular pulls the cantilever 5 of the system 1 in this direction. It has been shown that a particularly large distance A between the hip belt 17 and the back padding 18 as the contact surfaces between the back structure 6 and the user 20 compensates for this tilting moment 19 particularly effectively, since particularly good leverage conditions prevail in this way.
  • the left half of FIG. 2 shows a large distance A between hip belt 17 and back pad 18, which is symbolized by a capital letter A, while the right half of FIG. 2 shows a small distance a between hip belt 17 and back pad 18 , which is symbolized by a lowercase letter a.
  • the cantilever 5 having a back portion 15, a head portion 16 and a transition portion 25 may include. While the back section 15 and the head section 16 are arranged essentially perpendicularly to one another, the transition section 25 is in a transition region 24 between the back section 15 and the head section 16 of the cantilever arm 5 .
  • the adjustability of the distance A can be made possible in particular by the provision of a linear guide (not shown).
  • Fig. 3 shows a preferred embodiment of the proposed system 1 with a support stre be 33 which can be arranged between the hip belt 17 and the back pad 18 of the back structure 6 vorlie conditions.
  • the support strut 33 With the support strut 33, the introduction of the tilting moment 19 into the back structure 6, in particular into the hip belt 17, can be further improved, so that with the support strut 33 an improved introduction of force into the hip belt 17 and a further improved relief for the user 20 are made possible can.
  • Fig. 4 shows a preferred embodiment of the proposed system 1, wherein the head portion 16 of the cantilever 5 extends over the head 21 of the user 20, while Fig. 5 shows a preferred embodiment of the proposed system 1, wherein the head portion 16 of the cantilever 5 next to the head 21 of the user 20 runs.
  • the system 1 can be used together with different objects 3 or tool devices. This makes it particularly versatile and can be used, for example, by craftsmen from different trades be used.
  • different types of tools can be attached to the traction cable 4 of the system 1.
  • Fig. 6 shows a preferred embodiment of the proposed system 1 with a joint 27 in the back section 15 of the cantilever 5. It is preferred within the meaning of the invention that at least one joint 26, 27, 30 is arranged in the cantilever 5 of the system 1, so that a foldability of the cantilever 5 is made possible.
  • the joint 27 divides thefeldab section 15 of the cantilever 5 into an upper part 28 and a lower part 29, the upper part 28 can be folded together with the head portion 16 of the cantilever 5 in a spatial direction forward.
  • This rotatability of the upper area 28 of the back section 15 and the head section 16 of the cantilever 5 is indicated in FIG. 6 by the circular arrow.
  • the rotation of the upper region 28 of the back section 15 and the head section 16 of the cantilever arm 5 takes place about a first horizontal axis H1, which preferably runs through the joint 27 in the back section 15 of the cantilever arm 5.
  • the upper part 28 and the head section 16 of the cantilever 5 can, for example, be placed next to the head 21 of the user 20 and the system 1 can be carried particularly easily as a backpack in this embodiment of the invention and due to the small pack size.
  • the lower region 29 of the back section 15 terminates at the bottom with the second or rear end 8 of the cantilever arm 5 .
  • Fig. 7 shows a preferred embodiment of the proposed system 1 with a joint 26 in the transition area 24 between the back section 15 and the head section 16 of the cantilever 5.
  • the head section 16 of the cantilever 5 can be moved forwards about a second horizontal axis H2 be folded, so that the pack size of the collapsed system 1 is also significantly reduced.
  • FIG. 8 shows an embodiment of the proposed system, in which a joint 27 is provided in the back section 15 of the cantilever arm 5, which joint 27 divides the back section 15 into an upper area 28 and a lower area 29. 6 to 8 also show the contact areas 17, 18, which can be formed by a hip belt and a back pad and which preferably form the back structure 6 of the proposed balancing system 1.
  • a joint 27 is provided in the back section 15 of the cantilever arm 5, which joint 27 divides the back section 15 into an upper area 28 and a lower area 29.
  • 6 to 8 also show the contact areas 17, 18, which can be formed by a hip belt and a back pad and which preferably form the back structure 6 of the proposed balancing system 1.
  • Fig. 9 shows a preferred embodiment of the proposed system 1 with a cantilever arm 5 that can be rotated and folded a first vertical axis V1 can be turned sideways by a turning angle.
  • the angle of rotation can be, for example, essentially 90 degrees, that is to say represent an essentially right angle.
  • the first vertical axis V1 is substantially parallel to the back portion 15 of the cantilever 5 and protrudes out of the plane of the drawing of the upper figures in Figure 9, ie towards the reader.
  • the head portion 16 of the cantilever arm 5 is rotated by a right angle before compared to the initial state (cf. top left image of FIG. 9) of the sys tem 1.
  • the cantilever 5 has a joint 26, 27 so that an upper portion of the cantilever 5 can be folded down next to the body of the user 20 after the rotation.
  • This rotatability of the cantilever 5 is indicated by the round arrow in the lower left illustration of FIG.
  • the system 1 is shown in the folded state when the upper area of the cantilever arm 5 is folded to the side or down next to the body of the user 20 .
  • the folding down takes place about a horizontal axis of rotation H1, H2, which preferably runs essentially horizontally through the joint 26, 27 in the cantilever arm 5 of the system 1.
  • the joint 26, 27 can be, for example, a joint 26 in the transition region 24 between the back section 15 and the head section 16 of the cantilever arm 5, or a joint 27 in the back section 15 of the cantilever arm 5, which extends the back section 15 into an upper region 28 and a lower area 29 divided.
  • a joint 26 in the transition region 24 between the back section 15 and the head section 16 of the cantilever arm 5 or a joint 27 in the back section 15 of the cantilever arm 5, which extends the back section 15 into an upper region 28 and a lower area 29 divided.
  • FIG. 9 an embodiment of the system with a joint 27 in the back section 15 of the cantilever 5 is shown.
  • Fig. 10 shows a preferred embodiment of the proposed system 1 with a joint 30 in the head section 16 of the cantilever 5.
  • the two images of Fig. 10 show in particular a plan view of a preferred embodiment of the proposed system 1, with the joint 30 in the head section 16 of the Cantilever arm 5 divided into a front area 31 and a rear area 32 ren.
  • the front end of the front portion 31 of the head portion 16 of the cantilever 5 is referred to as the first or front end 7 of the cantilever 5 .
  • the front area 31 of the head section 16 of the Cantilever 5 can be folded to the side about a second vertical axis V2 so that the front portion 31 of the head portion 16 of the cantilever 5 next to the rear portion 32 of the head portion 16 of the cantilever 5 comes to rest.
  • the front area 31 and the rear area 32 of the head section 16 of the cantilever arm 5 are essentially parallel to one another. This ability to rotate around the second vertical axis V2 can in particular reduce the extent of the system 1 in a side view.
  • the second vertical axis V2 runs essentially parallel to the back section 15 of the cantilever 5 or a spine of the user 20 and protrudes from the drawing plane of FIG. In other words: the second vertical axis V2 meets the reader.
  • the second vertical axis V2 preferably runs through the joint 30 in the head section 16 of the cantilever arm 5.
  • the 11 shows a preferred embodiment of the proposed system 1 with a support point 22 for a wall 23.
  • the support point 22 is arranged in particular in the front end 7 of the cantilever 5 and can comprise an elastic material or at least one roller, the elastic material or roller coming into contact with a wall 23 .
  • the wall 23 can be, for example, masonry, a wall or a substrate that is to be machined with the object 3, which is preferably designed as a machine tool.
  • the system 1 or the user 20 of the system 1 can be supported on the wall 23 to be processed, so that the tilting moment 19 caused by the object 3 is introduced directly into the wall 23 and thus no load for the utility 20 of the system 1 represents.
  • the user 20 of the system 1 can be considerably relieved and supported when working with a power tool.
  • Fig. 11 also shows that the head portion 16 of the cantilever 5 can be formed telescopically, the telescoping ability of the head portion 16 of the cantilever 5 is present in particular in the horizontal direction. It is indicated in FIG. 10 by the arrow running above and parallel to the head section 16 .
  • the telescoping capability of the head section 16 makes it possible to use different tools on the object 3, which is preferably designed as a machine tool, and to work with it.
  • the system 1 can be particularly easily adapted to un ferent tool lengths of the power tool due to the telescoping capability of the head section 16 of the cantilever arm 5 .
  • 12 shows a preferred embodiment of the proposed kit 50 as a stand-alone device.
  • the invention relates in further aspects to an electronic module 10 and a kit 50 , the kit 50 comprising an electronic module 10 , at least one traction cable 4 and a deflection pulley 51 .
  • An object 3 can be attached to the traction cable 4, with an effective length of the traction cable 4 - analogous to the system 1 be written - can be shortened or lengthened by a winding device 12 of the electronic module 10, so that a weight or a weight force 2 of item 3 is compensated.
  • the electronic module 10 comprises such a winding unit 12, a motor 13 with which the winding unit 12 can be driven, an energy source 11 for the electrical supply of the electronic module 10 and its components 12, 13,
  • the proposed kit 50 can be set up as a stand-alone device, for example, at a desired work location and can be particularly easily transported.
  • V1 first vertical axis

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de compensation du poids d'un objet. Dans le procédé, l'objet est fixé à un câble de traction, et le câble de traction est guidé dans ou sur un bras en porte-à-faux dans la direction d'une structure arrière du système, une seconde extrémité du bras en porte-à-faux étant reçue par une structure arrière, et le système pouvant être porté par un utilisateur du système au moyen de la structure arrière. Le système est caractérisé par un module électronique comprenant un dispositif d'enroulement du câble de traction et un moteur d'entraînement du dispositif pour enrouler le câble de traction, ledit système étant conçu pour déterminer une force antagoniste pour le poids de l'objet et le transférer à l'objet. Selon l'invention, il est particulièrement préférable qu'un dispositif de commande du système soit conçu pour régler une force antagoniste par rapport au poids de l'objet. De préférence, le système peut être conçu pour établir un équilibre entre le poids de l'objet et la force antagoniste. Des aspects supplémentaires de l'invention concernent un module électronique pour compenser le poids d'un objet et un kit qui comprend un tel module électronique, un câble de traction et au moins un rouleau de déviation. Grâce à l'invention, le poids d'un objet qui peut être fixé à un câble de traction d'un système de compensation proposé peut être compensé particulièrement facilement et de manière à être léger pour le dos.
PCT/EP2022/058864 2021-04-22 2022-04-04 Système, kit et module électronique pour compenser le poids d'un objet WO2022223271A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP22720438.5A EP4326494A1 (fr) 2021-04-22 2022-04-04 Système, kit et module électronique pour compenser le poids d'un objet
CN202280029759.5A CN117241917A (zh) 2021-04-22 2022-04-04 用于对重平衡物体的重量力的系统、套件和电子模块
US18/286,043 US20240183489A1 (en) 2021-04-22 2022-04-04 System, kit and electronic module for counterbalancing a weight force of an object

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP21169808.9A EP4079460A1 (fr) 2021-04-22 2021-04-22 Système, ensemble et module électronique permettant d'équilibrer une force pondérale d'un objet
EP21169808.9 2021-04-22

Publications (1)

Publication Number Publication Date
WO2022223271A1 true WO2022223271A1 (fr) 2022-10-27

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PCT/EP2022/058864 WO2022223271A1 (fr) 2021-04-22 2022-04-04 Système, kit et module électronique pour compenser le poids d'un objet

Country Status (4)

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US (1) US20240183489A1 (fr)
EP (2) EP4079460A1 (fr)
CN (1) CN117241917A (fr)
WO (1) WO2022223271A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011127471A1 (fr) * 2010-04-09 2011-10-13 Lockheed Martin Corporation Système portable de soulèvement de charges
KR101500525B1 (ko) * 2013-10-16 2015-03-09 대우조선해양 주식회사 산업용 착용로봇의 접이식 작업유닛
EP2556009B1 (fr) * 2010-04-09 2016-02-10 Ekso Bionics Système de gestion de charge d'exosquelette et son procédé d'utilisation
WO2020043851A1 (fr) * 2018-08-30 2020-03-05 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Procede de compensation automatique de charge pour un cobot ou un exosquelette de membre superieur

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011127471A1 (fr) * 2010-04-09 2011-10-13 Lockheed Martin Corporation Système portable de soulèvement de charges
EP2556009B1 (fr) * 2010-04-09 2016-02-10 Ekso Bionics Système de gestion de charge d'exosquelette et son procédé d'utilisation
KR101500525B1 (ko) * 2013-10-16 2015-03-09 대우조선해양 주식회사 산업용 착용로봇의 접이식 작업유닛
WO2020043851A1 (fr) * 2018-08-30 2020-03-05 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Procede de compensation automatique de charge pour un cobot ou un exosquelette de membre superieur

Also Published As

Publication number Publication date
CN117241917A (zh) 2023-12-15
US20240183489A1 (en) 2024-06-06
EP4079460A1 (fr) 2022-10-26
EP4326494A1 (fr) 2024-02-28

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